Building control system with feedback and feedforward total energy flow compensation

ABSTRACT

A system for controlling air quality of a building space includes HVAC equipment configured to serve the building space, sensors configured to measure a plurality of parameters relating to the building space, and a control system. The control system is configured to receive data from the sensors, determine a feedforward air quality contribution, determine a feedback air quality contribution based on a measured air quality and an air quality setpoint for the building space, combine the feedforward air quality contribution and the feedback air quality contribution to determine a target amount of ventilation or filtration to be provided to the building space by the HVAC equipment, and control the HVAC equipment to provide the target amount of ventilation or filtration.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application is a continuation-in-part of U.S. application Ser. No.16/262,263, filed Jan. 30, 2019, and claims the benefit of and priorityto U.S. Provisional Application No. 63/047,119, filed Jul. 1, 2020, bothof which are incorporated herein by reference in their entireties

BACKGROUND

HVAC systems are typically controlled to attempt to maintain a desiredtemperature or other condition in a space. For example, a temperaturesetpoint may be selected for a space. A temperature sensor located inthe space measures the indoor air temperature in the space (i.e., at thelocation of the temperature sensor) and provides the temperaturemeasurement to a controller for the HVAC system. If the measuredtemperature deviates from the temperature setpoint by more than athreshold amount, the controller alters the operation of the HVACequipment to attempt to drive the measured temperature towards thetemperature setpoint.

In such a case, the HVAC system only reacts after the temperature hasalready deviated from setpoint. Additionally, because the temperaturesensor used for feedback control is located at one position in thespace, a lag time may exist between a heat flow at a different area ofthe space and a temperature change at the temperature sensor.Accordingly, in a scenario where the temperature setpoint is set by anoccupant based on the occupant's comfort preferences, the HVAC systemmay only react after the temperature becomes uncomfortable for theoccupant. Systems and methods for a proactive approach to HVAC controlmay therefore be desirable to provide a more consistent adherence ofactual temperature or other conditions in the space to the setpointtemperature or setpoint condition for the space.

SUMMARY

One implementation of the present disclosure is a system for controllingtemperature of a building space. The system includes HVAC equipmentconfigured to serve the building space, a plurality of sensorsconfigured to measure a plurality of parameters relating to the buildingspace, and a control system. The control system is configured to receivedata from the plurality of sensors, generate a plurality of disturbanceheat flow estimates for the building space based on the data from theplurality of sensors, determine a feedforward heat flow contributionbased on the disturbance heat flow estimates, determine a feedback heatflow contribution based on a measured temperature of the building spaceand a temperature setpoint for the building space, combine thefeedforward heat flow contribution and the feedback heat flowcontribution to determine a rate of heat flow to be provided to thebuilding space by the HVAC equipment, and control the HVAC equipment toprovide the rate of heat flow.

In some embodiments, the feedforward heat flow contribution iscalculated as approximately an opposite of a total disturbance heat flowestimate. The total disturbance heat flow estimate is defined as a sumof the plurality of disturbance heat flow estimates.

In some embodiments, the plurality of disturbance heat flow estimatesincludes a people heat flow estimate that quantifies a rate of heattransfer from one or more people in the building space to indoor air ofthe building space. In some embodiments, the plurality of sensorsincludes an occupancy sensor configured to obtain a measurement of anumber of people located in the building space. The control system isconfigured to generate the people heat flow estimate based on themeasurement from the occupancy sensor and a predetermined per-personheat flow.

In some embodiments, the plurality of sensors includes an occupancysensor configured to obtain a measurement of a number of people locatedin the building space and a carbon dioxide sensor configured to obtain ameasurement of a carbon dioxide concentration in the building space. Thecontrol system is configured to generate the people heat flow estimatebased on the measurement of the number of people located in the buildingspace and the measurement of the carbon dioxide concentration in thebuilding space.

In some embodiments, the plurality of disturbance heat flow estimatesincludes a computer heat flow estimation that quantifies a rate of heattransfer from one or more computers in the building space to indoor airof the building space. In some embodiments, the plurality of sensorsinclude a network router configured to provide a wireless network forthe building space and obtain data indicating a number of computersconnected to the wireless network for the building space. The controlsystem is configured to generate the computer heat flow estimation basedon the number of computers connected to the wireless network for thebuilding space.

In some embodiments, the plurality of disturbance heat flow estimatesincludes a solar radiation heat flow estimation that quantifies a rateof heat transfer to the building space caused by solar radiation. Thecontrol system is configured to generate the solar radiation heat flowestimation based on at least one of brightness measurements from anexterior light sensor of the plurality of sensors, position informationfor an automated window shade, or weather data. In some embodiments, theplurality of disturbance heat flow estimates includes at least one of alighting heat flow estimate, a projector heat flow estimate, anelectrical load heat flow estimate, or a telephone heat flow estimate.

Another implementation of the present disclosure is a method forcontrolling temperature of a building space. The method includesobtaining measurements of various parameters relating to the buildingspace, generating a plurality of disturbance heat flow estimates for thebuilding space based on the measurements, determining a feedforward heatflow contribution based on the plurality of disturbance heat flowestimates, determining a feedback heat flow contribution based on ameasured indoor air temperature of the building space and a temperaturesetpoint for the building space, combining the feedforward heat flowcontribution and the feedback heat flow contribution to determine a rateof heat flow to be provided to the building space by HVAC equipment, andcontrolling the HVAC equipment to provide the rate of heat flow to thebuilding space.

In some embodiments, determining a feedforward heat flow contributionbased on the plurality of disturbance heat flow estimates includescalculating a total disturbance heat flow estimate as a sum of theplurality of disturbance heat flow estimates and defining thefeedforward heat flow contribution as approximately an opposite of thetotal disturbance heat flow estimate.

In some embodiments, generating a plurality of disturbance heat flowestimates for the building space based on the measurements includesgenerating a people heat flow estimate that quantifies a rate of heattransfer from one or more people in the building space to indoor air ofthe building space. In some embodiments, obtaining measurements ofvarious parameters relating to the building space includes measuring, byan occupancy sensor, a number of people located in the building space.Generating the people heat flow estimate includes calculating the peopleheat flow estimate based on the number of people located in the buildingspace and a predetermined per-person heat flow.

In some embodiments, obtaining measurements of various parametersrelating to the building space includes measuring, by an occupancysensor, a number of people located in the building space and measuring,by a carbon dioxide sensor, a carbon dioxide concentration in thebuilding space. Generating the people heat flow estimate includescalculating the people heat flow estimate based on the number of peoplelocated in the building space and the carbon dioxide concentration inthe building space.

In some embodiments, generating the plurality of disturbance heat flowestimates for the building space based on the measurements includesgenerating a computer heat flow estimation that quantifies a rate ofheat transfer from one or more computers in the building space to indoorair of the building space. In some embodiments, obtaining measurementsof various parameters relating to the building space comprises obtainingan indication of a number of computers that are connected to a networkfor the building space. Generating the computer heat flow estimationincludes calculating the computer heat flow estimation based on theindication of the number of computers that are connected to the networkfor the building space.

In some embodiments, obtaining measurements of various parametersrelating to the building space includes at least one of obtainingbrightness measurements from an exterior light sensor, obtainingposition information for a window shade at the building space, orobtaining weather data from a weather service. Generating the pluralityof disturbance heat flow estimates for the building space includesgenerating a solar radiation heat flow estimation that quantifies a rateof heat transfer to the building space caused by solar radiation basedon at least one of the brightness measurements, the position informationfor the window shade, or the weather data.

In some embodiments, generating the plurality of disturbance heat flowestimates for the building space comprises generating at least one of alighting heat flow estimate, a projector heat flow estimate, anelectrical load heat flow estimate, or a telephone heat flow estimate.

Another implementation of the present disclosure includes one or morenon-transitory computer-readable media containing program instructionsthat, when executed by one or more processors, cause the one or moreprocessors to perform operations. The operations include obtainingmeasurements of various parameters relating to a building space,generating a plurality of disturbance heat flow estimates for thebuilding space based on the measurements, and determining a feedforwardheat flow contribution based on the plurality of disturbance heat flowestimates. The feedforward heat flow contribution specifies a rate ofheat flow to be provided to the building space by HVAC equipment. Therate of heat flow is approximately equal to an opposite of a sum of theplurality of disturbance heat flow estimates. The operations alsoinclude controlling the HVAC equipment to provide the rate of heat flowto the building space.

In some embodiments, controlling the HVAC equipment to provide the rateof heat flow to the building space causes an indoor air temperature ofthe building space to be maintained at an approximately constant value.

Another implementation of the present disclosure relates to a system forcontrolling air quality of a building space that uses HVAC equipmentconfigured to serve the building space. The system includes sensorsconfigured to measure a plurality of parameters relating to the buildingspace, and a control system. The control system is configured to receivedata from the plurality of sensors, determine a feedforward air qualitycontribution, determine a feedback air quality contribution based on ameasured air quality and an air quality setpoint for the building space,combine the feedforward air quality contribution and the feedback airquality contribution to determine a target amount of ventilation orfiltration to be provided to the building space by the HVAC equipment,and control the HVAC equipment to provide the target amount ofventilation or filtration.

In some embodiments, the air quality contribution is based on the airquality transfer estimates. In some embodiments, the air quality isrelated to particulates (e.g., pathogens, allergens, etc.) in the air orconcentrations thereof. The air quality transfer estimate can be basedupon occupancy and movement of occupants.

Another implementation of the present disclosure relates to a system forcontrolling a building space. The system includes HVAC equipmentconfigured to serve the building space, sensors configured to measureparameters relating to the building space, and a control system. Thecontrol system is configured to: receive data from the sensors, generatedisturbance energy transfer estimates for the building space based onthe data from the sensors, determine a feedforward energy transfercontribution based on the disturbance energy transfer estimates,determine a feedback energy transfer contribution based on a measuredfirst parameter and a first parameter setpoint for the building space,combine the feedforward energy transfer contribution and the feedbackenergy transfer contribution to determine a target energy transfer to beprovided to the building space by the HVAC equipment, and control theHVAC equipment to provide the target energy transfer.

In some embodiments, the sensors comprise: a thermal camera, anoccupancy sensor configured to obtain a measurement of a number ofpeople located in the building space, and/or a carbon dioxide sensorconfigured to obtain a measurement of a carbon dioxide concentration inthe building space. In some embodiments, the control system isconfigured to generate an air quality transfer estimate based on themeasurement of the number of people located in the building space andthe measurement of the carbon dioxide concentration in the buildingspace. In some embodiments, the sensors include an occupancy sensorconfigured to obtain a measurement of a number of people located in thebuilding space and a thermal imaging camera and wherein the temperatureof the one or more people is a skin temperature parameter, and thecontrol system is configured to generate the people energy transferestimate based on the measurement from the occupancy sensor and apredetermined per-person heat flow.

Another implementation of the present disclosure relates to a system forcontrolling air quality of a building space. The system includes HVACequipment configured to serve the building space, sensors configured tomeasure a plurality of parameters relating to the building space, and acontrol system. The control system is configured to receive data fromthe sensors, generate a plurality of disturbance air quality estimatesfor the building space based on the data from the plurality of sensors,determine a feedforward air quality contribution based on the airquality transfer estimates, determine a feedback air qualitycontribution based on a measured air quality and an air quality setpointfor the building space, combine the feedforward air quality contributionand the feedback air quality contribution to determine a target amountof ventilation or filtration to be provided to the building space by theHVAC equipment, and control the HVAC equipment to provide the targetamount of ventilation or filtration.

In some embodiments, the feedforward air quality contribution iscalculated using an occupancy measurement from an occupancy sensor orinfrared camera. In some embodiments, wherein the disturbance airquality estimates comprise a carbon dioxide estimate that quantifies acarbon dioxide transfer from one or more people in the building space toindoor air of the building space or a particulate estimate thatquantifies particulate concentration due to the one or more people.

Another implementation of the present disclosure relates to a method forcontrolling a parameter of a building space. The method includesobtaining measurements of conditions relating to the building space,generating a plurality of disturbance estimates for the building spacebased on the measurements, determining a feedforward contribution basedon the plurality of disturbance estimate, and determining a feedbackcontribution based on a measured condition of the building space and acondition setpoint for the building space. The method also includescombining the feedforward contribution and the feedback contribution todetermine a target condition to be provided to the building space byHVAC equipment, and controlling the HVAC equipment to provide the targetcondition to the building space.

Another implementation of the present disclosure includes one or morenon-transitory computer-readable media containing program instructionsthat, when executed by one or more processors, cause the one or moreprocessors to perform operations. The operations include generating aplurality of disturbance estimates for the building space based on themeasurements, determining a feedforward contribution based on theplurality of disturbance estimate, and determining a feedbackcontribution based on a measured condition of the building space and acondition setpoint for the building space. The method also includescombining the feedforward contribution and the feedback contribution todetermine a target condition to be provided to the building space byHVAC equipment, and controlling the HVAC equipment to provide the targetcondition to the building space. The disturbance estimates are for airflow or air quality in some embodiments.

In some embodiments, the target condition is ventilation, filtration, orenergy flow. In some embodiments, the measured condition is humidity,temperature or air quality (e.g., carbon dioxide or particulate (e.g.,pathogen) concentration)). In some embodiments, obtaining measurementsof various parameters relating to the building space includes measuring,by an occupancy sensor, a number of people located in the building spaceand measuring, by a carbon dioxide sensor, a carbon dioxideconcentration in the building space, and generating the disturbanceestimate is based in part on the number of people located in thebuilding space and the carbon dioxide concentration in the buildingspace.

BRIEF DESCRIPTION OF THE FIGURES

Various objects, aspects, features, and advantages of the disclosurewill become more apparent and better understood by referring to thedetailed description taken in conjunction with the accompanyingdrawings, in which like reference characters identify correspondingelements throughout. In the drawings, like reference numbers generallyindicate identical, functionally similar, and/or structurally similarelements.

FIG. 1 is a drawing of a building equipped with a HVAC system, accordingto an exemplary embodiment.

FIG. 2 is a block diagram of a waterside system which can be used toserve the building of FIG. 1 , according to an exemplary embodiment.

FIG. 3 is a block diagram of an airside system which can be used toserve the building of FIG. 1 , according to an exemplary embodiment.

FIG. 4 is a block diagram of a building management system (BMS) whichcan be used to monitor and control the building of FIG. 1 , according toan exemplary embodiment.

FIG. 5 is a block diagram of another BMS which can be used to monitorand control the building of FIG. 1 , according to an exemplaryembodiment.

FIG. 6 is a block diagram of a space affected by a variety of heat flowsand served by HVAC equipment and a variety of sensors, according to anexemplary embodiment.

FIG. 7 is a schematic diagram of heat flows at the space of FIG. 6 ,according to an exemplary embodiment.

FIG. 8 is a block diagram of a system for controlling the total energyflow at the space of FIG. 6 , according to an exemplary embodiment.

FIG. 9 is a detailed block diagram of a feedforward disturbanceestimation circuit of the system of FIG. 8 , according to an exemplaryembodiment.

DETAILED DESCRIPTION

Building HVAC Systems and Building Management Systems

Referring now to FIGS. 1-5 , several building management systems (BMS)and HVAC systems in which the systems and methods of the presentdisclosure can be implemented are shown, according to some embodiments.In brief overview, FIG. 1 shows a building 10 equipped with a HVACsystem 100. FIG. 2 is a block diagram of a waterside system 200 whichcan be used to serve building 10. FIG. 3 is a block diagram of anairside system 300 which can be used to serve building 10. FIG. 4 is ablock diagram of a BMS which can be used to monitor and control building10. FIG. 5 is a block diagram of another BMS which can be used tomonitor and control building 10.

Building and HVAC System

Referring particularly to FIG. 1 , a perspective view of a building 10is shown. Building 10 is served by a BMS. A BMS is, in general, a systemof devices configured to control, monitor, and manage equipment in oraround a building or building area. A BMS can include, for example, aHVAC system, a security system, a lighting system, a fire alertingsystem, any other system that is capable of managing building functionsor devices, or any combination thereof.

The BMS that serves building 10 includes a HVAC system 100. HVAC system100 can include a plurality of HVAC devices (e.g., heaters, chillers,air handling units, pumps, fans, thermal energy storage, etc.)configured to provide heating, cooling, ventilation, or other servicesfor building 10. For example, HVAC system 100 is shown to include awaterside system 120 and an airside system 130. Waterside system 120 mayprovide a heated or chilled fluid to an air handling unit of airsidesystem 130. Airside system 130 may use the heated or chilled fluid toheat or cool an airflow provided to building 10. An exemplary watersidesystem and airside system which can be used in HVAC system 100 aredescribed in greater detail with reference to FIGS. 2-3 .

HVAC system 100 is shown to include a chiller 102, a boiler 104, and arooftop air handling unit (AHU) 106. Waterside system 120 may use boiler104 and chiller 102 to heat or cool a working fluid (e.g., water,glycol, etc.) and may circulate the working fluid to AHU 106. In variousembodiments, the HVAC devices of waterside system 120 can be located inor around building 10 (as shown in FIG. 1 ) or at an offsite locationsuch as a central plant (e.g., a chiller plant, a steam plant, a heatplant, etc.). The working fluid can be heated in boiler 104 or cooled inchiller 102, depending on whether heating or cooling is required inbuilding 10. Boiler 104 may add heat to the circulated fluid, forexample, by burning a combustible material (e.g., natural gas) or usingan electric heating element. Chiller 102 may place the circulated fluidin a heat exchange relationship with another fluid (e.g., a refrigerant)in a heat exchanger (e.g., an evaporator) to absorb heat from thecirculated fluid. The working fluid from chiller 102 and/or boiler 104can be transported to AHU 106 via piping 108.

AHU 106 may place the working fluid in a heat exchange relationship withan airflow passing through AHU 106 (e.g., via one or more stages ofcooling coils and/or heating coils). The airflow can be, for example,outside air, return air from within building 10, or a combination ofboth. AHU 106 may transfer heat between the airflow and the workingfluid to provide heating or cooling for the airflow. For example, AHU106 can include one or more fans or blowers configured to pass theairflow over or through a heat exchanger containing the working fluid.The working fluid may then return to chiller 102 or boiler 104 viapiping 110.

Airside system 130 may deliver the airflow supplied by AHU 106 (i.e.,the supply airflow) to building 10 via air supply ducts 112 and mayprovide return air from building 10 to AHU 106 via air return ducts 114.In some embodiments, airside system 130 includes multiple variable airvolume (VAV) units 116. For example, airside system 130 is shown toinclude a separate VAV unit 116 on each floor or zone of building 10.VAV units 116 can include dampers or other flow control elements thatcan be operated to control an amount of the supply airflow provided toindividual zones of building 10. In other embodiments, airside system130 delivers the supply airflow into one or more zones of building 10(e.g., via supply ducts 112) without using intermediate VAV units 116 orother flow control elements. AHU 106 can include various sensors (e.g.,temperature sensors, pressure sensors, etc.) configured to measureattributes of the supply airflow. AHU 106 may receive input from sensorslocated within AHU 106 and/or within the building zone and may adjustthe flow rate, temperature, or other attributes of the supply airflowthrough AHU 106 to achieve setpoint conditions for the building zone.

The BMS can include a thermostat 107 for controlling HVAC equipment inresponses to temperature, humidity, air quality or other conditions. Thethermostat 107 can be a smart thermostat with a user interface andinternet and network connectivity. The thermostat 107 can include anoccupancy sensor and can be in communication with a camera, such as aninfrared or heat camera. The camera can provide thermal images or visualimages for determining skin temperatures, changes in skin color,perspiration determination, or movement. The thermostat 107 can alsoinclude an air quality sensor for determining concentrations of carbondioxide or other contaminants. The thermostat 107 can be used in asystem configured to use feed forward and feedback loops to implementthe operations described in U.S. Patent Application Ser. No. 63/047,119incorporated herein by reference.

In some embodiments, the thermostat 107 is in communication with orincludes one or more of a variety of sensors (e.g., air quality,temperature, humidity, air quality, proximity, light, vibration, motion,optical, audio, occupancy, power, security, etc.) configured to sense avariable state or condition of the environment in which the thermostat107 is installed. In an exemplary embodiment, the thermostat 107 isequipped with a monitoring device (e.g., a camera, a microphone, etc.)for monitoring physical disturbances in the environment where thethermostat 107 is installed. The camera may be a CMOS sensor, chargecoupled device (CCD) sensor, or any other type of image sensorconfigured to monitor the environment. In some embodiments, the cameramay be an infrared camera configured to detect infrared energy andconvert it into a thermal image.

The sensors can include an air quality sensor (e.g., particulates,pathogen, carbon monoxide, carbon dioxide, allergens, smoke, etc.), amotion or occupancy sensor (e.g., a passive infrared sensor), aproximity sensor (e.g., a thermopile to detect the presence of a humanand/or NFC, RFID, Bluetooth, sensors to detect the presence of a mobiledevice, etc.), an infrared sensor, a light sensor, a vibration sensor,or any other type of sensor configured to measure a variable state orcondition of the environment in which the thermostat 107 is installed.The air quality sensor is configured to determine air quality (e.g., anamount of VOCs, CO, CO2, etc.) in some embodiments.

Waterside System

Referring now to FIG. 2 , a block diagram of a waterside system 200 isshown, according to some embodiments. In various embodiments, watersidesystem 200 may supplement or replace waterside system 120 in HVAC system100 or can be implemented separate from HVAC system 100. Whenimplemented in HVAC system 100, waterside system 200 can include asubset of the HVAC devices in HVAC system 100 (e.g., boiler 104, chiller102, pumps, valves, etc.) and may operate to supply a heated or chilledfluid to AHU 106. The HVAC devices of waterside system 200 can belocated within building 10 (e.g., as components of waterside system 120)or at an offsite location such as a central plant.

In FIG. 2 , waterside system 200 is shown as a central plant having aplurality of subplants 202-212. Subplants 202-212 are shown to include aheater subplant 202, a heat recovery chiller subplant 204, a chillersubplant 206, a cooling tower subplant 208, a hot thermal energy storage(TES) subplant 210, and a cold thermal energy storage (TES) subplant212. Subplants 202-212 consume resources (e.g., water, natural gas,electricity, etc.) from utilities to serve thermal energy loads (e.g.,hot water, cold water, heating, cooling, etc.) of a building or campus.For example, heater subplant 202 can be configured to heat water in ahot water loop 214 that circulates the hot water between heater subplant202 and building 10. Chiller subplant 206 can be configured to chillwater in a cold water loop 216 that circulates the cold water betweenchiller subplant 206 building 10. Heat recovery chiller subplant 204 canbe configured to transfer heat from cold water loop 216 to hot waterloop 214 to provide additional heating for the hot water and additionalcooling for the cold water. Condenser water loop 218 may absorb heatfrom the cold water in chiller subplant 206 and reject the absorbed heatin cooling tower subplant 208 or transfer the absorbed heat to hot waterloop 214. Hot TES subplant 210 and cold TES subplant 212 may store hotand cold thermal energy, respectively, for subsequent use.

Hot water loop 214 and cold water loop 216 may deliver the heated and/orchilled water to air handlers located on the rooftop of building 10(e.g., AHU 106) or to individual floors or zones of building 10 (e.g.,VAV units 116). The air handlers push air past heat exchangers (e.g.,heating coils or cooling coils) through which the water flows to provideheating or cooling for the air. The heated or cooled air can bedelivered to individual zones of building 10 to serve thermal energyloads of building 10. The water then returns to subplants 202-212 toreceive further heating or cooling.

Although subplants 202-212 are shown and described as heating andcooling water for circulation to a building, it is understood that anyother type of working fluid (e.g., glycol, CO₂, etc.) can be used inplace of or in addition to water to serve thermal energy loads. In otherembodiments, subplants 202-212 may provide heating and/or coolingdirectly to the building or campus without requiring an intermediateheat transfer fluid. These and other variations to waterside system 200are within the teachings of the present disclosure.

Each of subplants 202-212 can include a variety of equipment configuredto facilitate the functions of the subplant. For example, heatersubplant 202 is shown to include a plurality of heating elements 220(e.g., boilers, electric heaters, etc.) configured to add heat to thehot water in hot water loop 214. Heater subplant 202 is also shown toinclude several pumps 222 and 224 configured to circulate the hot waterin hot water loop 214 and to control the flow rate of the hot waterthrough individual heating elements 220. Chiller subplant 206 is shownto include a plurality of chillers 232 configured to remove heat fromthe cold water in cold water loop 216. Chiller subplant 206 is alsoshown to include several pumps 234 and 236 configured to circulate thecold water in cold water loop 216 and to control the flow rate of thecold water through individual chillers 232.

Heat recovery chiller subplant 204 is shown to include a plurality ofheat recovery heat exchangers 226 (e.g., refrigeration circuits)configured to transfer heat from cold water loop 216 to hot water loop214. Heat recovery chiller subplant 204 is also shown to include severalpumps 228 and 230 configured to circulate the hot water and/or coldwater through heat recovery heat exchangers 226 and to control the flowrate of the water through individual heat recovery heat exchangers 226.Cooling tower subplant 208 is shown to include a plurality of coolingtowers 238 configured to remove heat from the condenser water incondenser water loop 218. Cooling tower subplant 208 is also shown toinclude several pumps 240 configured to circulate the condenser water incondenser water loop 218 and to control the flow rate of the condenserwater through individual cooling towers 238.

Hot TES subplant 210 is shown to include a hot TES tank 242 configuredto store the hot water for later use. Hot TES subplant 210 may alsoinclude one or more pumps or valves configured to control the flow rateof the hot water into or out of hot TES tank 242. Cold TES subplant 212is shown to include cold TES tanks 244 configured to store the coldwater for later use. Cold TES subplant 212 may also include one or morepumps or valves configured to control the flow rate of the cold waterinto or out of cold TES tanks 244.

In some embodiments, one or more of the pumps in waterside system 200(e.g., pumps 222, 224, 228, 230, 234, 236, and/or 240) or pipelines inwaterside system 200 include an isolation valve associated therewith.Isolation valves can be integrated with the pumps or positioned upstreamor downstream of the pumps to control the fluid flows in watersidesystem 200. In various embodiments, waterside system 200 can includemore, fewer, or different types of devices and/or subplants based on theparticular configuration of waterside system 200 and the types of loadsserved by waterside system 200.

Airside System

Referring now to FIG. 3 , a block diagram of an airside system 300 isshown, according to some embodiments. In various embodiments, airsidesystem 300 may supplement or replace airside system 130 in HVAC system100 or can be implemented separate from HVAC system 100. Whenimplemented in HVAC system 100, airside system 300 can include a subsetof the HVAC devices in HVAC system 100 (e.g., AHU 106, VAV units 116,ducts 112-114, fans, dampers, etc.) and can be located in or aroundbuilding 10. Airside system 300 may operate to heat or cool an airflowprovided to building 10 using a heated or chilled fluid provided bywaterside system 200.

In FIG. 3 , airside system 300 is shown to include an economizer-typeair handling unit (AHU) 302. Economizer-type AHUs vary the amount ofoutside air and return air used by the air handling unit for heating orcooling. For example, AHU 302 may receive return air 304 from buildingzone 306 via return air duct 308 and may deliver supply air 310 tobuilding zone 306 via supply air duct 312. In some embodiments, AHU 302is a rooftop unit located on the roof of building 10 (e.g., AHU 106 asshown in FIG. 1 ) or otherwise positioned to receive both return air 304and outside air 314. AHU 302 can be configured to operate exhaust airdamper 316, mixing damper 318, and outside air damper 320 to control anamount of outside air 314 and return air 304 that combine to form supplyair 310. Any return air 304 that does not pass through mixing damper 318can be exhausted from AHU 302 through exhaust damper 316 as exhaust air322.

Each of dampers 316-320 can be operated by an actuator. For example,exhaust air damper 316 can be operated by actuator 324, mixing damper318 can be operated by actuator 326, and outside air damper 320 can beoperated by actuator 328. Actuators 324-328 may communicate with an AHUcontroller 330 via a communications link 332. Actuators 324-328 mayreceive control signals from AHU controller 330 and may provide feedbacksignals to AHU controller 330. Feedback signals can include, forexample, an indication of a current actuator or damper position, anamount of torque or force exerted by the actuator, diagnosticinformation (e.g., results of diagnostic tests performed by actuators324-328), status information, commissioning information, configurationsettings, calibration data, and/or other types of information or datathat can be collected, stored, or used by actuators 324-328. AHUcontroller 330 can be an economizer controller configured to use one ormore control algorithms (e.g., state-based algorithms, extremum seekingcontrol (ESC) algorithms, proportional-integral (PI) control algorithms,proportional-integral-derivative (PID) control algorithms, modelpredictive control (MPC) algorithms, feedback control algorithms, etc.)to control actuators 324-328.

Still referring to FIG. 3 , AHU 302 is shown to include a cooling coil334, a heating coil 336, and a fan 338 positioned within supply air duct312. Fan 338 can be configured to force supply air 310 through coolingcoil 334 and/or heating coil 336 and provide supply air 310 to buildingzone 306. AHU controller 330 may communicate with fan 338 viacommunications link 340 to control a flow rate of supply air 310. Insome embodiments, AHU controller 330 controls an amount of heating orcooling applied to supply air 310 by modulating a speed of fan 338.

Cooling coil 334 may receive a chilled fluid from waterside system 200(e.g., from cold water loop 216) via piping 342 and may return thechilled fluid to waterside system 200 via piping 344. Valve 346 can bepositioned along piping 342 or piping 344 to control a flow rate of thechilled fluid through cooling coil 334. In some embodiments, coolingcoil 334 includes multiple stages of cooling coils that can beindependently activated and deactivated (e.g., by AHU controller 330, byBMS controller 366, etc.) to modulate an amount of cooling applied tosupply air 310.

Heating coil 336 may receive a heated fluid from waterside system 200(e.g., from hot water loop 214) via piping 348 and may return the heatedfluid to waterside system 200 via piping 350. Valve 352 can bepositioned along piping 348 or piping 350 to control a flow rate of theheated fluid through heating coil 336. In some embodiments, heating coil336 includes multiple stages of heating coils that can be independentlyactivated and deactivated (e.g., by AHU controller 330, by BMScontroller 366, etc.) to modulate an amount of heating applied to supplyair 310.

Each of valves 346 and 352 can be controlled by an actuator. Forexample, valve 346 can be controlled by actuator 354 and valve 352 canbe controlled by actuator 356. Actuators 354-356 may communicate withAHU controller 330 via communications links 358-360. Actuators 354-356may receive control signals from AHU controller 330 and may providefeedback signals to controller 330. In some embodiments, AHU controller330 receives a measurement of the supply air temperature from atemperature sensor 362 positioned in supply air duct 312 (e.g.,downstream of cooling coil 334 and/or heating coil 336). AHU controller330 may also receive a measurement of the temperature of building zone306 from a temperature sensor 364 located in building zone 306.

In some embodiments, AHU controller 330 operates valves 346 and 352 viaactuators 354-356 to modulate an amount of heating or cooling providedto supply air 310 (e.g., to achieve a setpoint temperature for supplyair 310 or to maintain the temperature of supply air 310 within asetpoint temperature range). The positions of valves 346 and 352 affectthe amount of heating or cooling provided to supply air 310 by coolingcoil 334 or heating coil 336 and may correlate with the amount of energyconsumed to achieve a desired supply air temperature. AHU controller 330may control the temperature of supply air 310 and/or building zone 306by activating or deactivating coils 334-336, adjusting a speed of fan338, or a combination of both.

Still referring to FIG. 3 , airside system 300 is shown to include abuilding management system (BMS) controller 366 and a client device 368.BMS controller 366 can include one or more computer systems (e.g.,servers, supervisory controllers, subsystem controllers, etc.) thatserve as system level controllers, application or data servers, headnodes, or master controllers for airside system 300, waterside system200, HVAC system 100, and/or other controllable systems that servebuilding 10. BMS controller 366 may communicate with multiple downstreambuilding systems or subsystems (e.g., HVAC system 100, a securitysystem, a lighting system, waterside system 200, etc.) via acommunications link 370 according to like or disparate protocols (e.g.,LON, BACnet, etc.). In various embodiments, AHU controller 330 and BMScontroller 366 can be separate (as shown in FIG. 3 ) or integrated. Inan integrated implementation, AHU controller 330 can be a softwaremodule configured for execution by a processor of BMS controller 366.

In some embodiments, AHU controller 330 receives information from BMScontroller 366 (e.g., commands, setpoints, operating boundaries, etc.)and provides information to BMS controller 366 (e.g., temperaturemeasurements, valve or actuator positions, operating statuses,diagnostics, etc.). For example, AHU controller 330 may provide BMScontroller 366 with temperature measurements from temperature sensors362-364, equipment on/off states, equipment operating capacities, and/orany other information that can be used by BMS controller 366 to monitoror control a variable state or condition within building zone 306.

Client device 368 can include one or more human-machine interfaces orclient interfaces (e.g., graphical user interfaces, reportinginterfaces, text-based computer interfaces, client-facing web services,web servers that provide pages to web clients, etc.) for controlling,viewing, or otherwise interacting with HVAC system 100, its subsystems,and/or devices. Client device 368 can be a computer workstation, aclient terminal, a remote or local interface, or any other type of userinterface device. Client device 368 can be a stationary terminal or amobile device. For example, client device 368 can be a desktop computer,a computer server with a user interface, a laptop computer, a tablet, asmartphone, a PDA, or any other type of mobile or non-mobile device.Client device 368 may communicate with BMS controller 366 and/or AHUcontroller 330 via communications link 372.

Building Management Systems

Referring now to FIG. 4 , a block diagram of a building managementsystem (BMS) 400 is shown, according to some embodiments. BMS 400 can beimplemented in building 10 to automatically monitor and control variousbuilding functions. BMS 400 is shown to include BMS controller 366 andbuilding subsystems 428 and can be implemented using servers (e.g.,cloud-based platform) or one or more thermostats (e.g., thermostat 107FIG. 1 )). Building subsystems 428 are shown to include a buildingelectrical subsystem 434, an information communication technology (ICT)subsystem 436, a security subsystem 438, a HVAC subsystem 440, alighting subsystem 442, a lift/escalators subsystem 432, and a firesafety subsystem 430. In various embodiments, building subsystems 428can include fewer, additional, or alternative subsystems. For example,building subsystems 428 may also or alternatively include arefrigeration subsystem, an advertising or signage subsystem, a cookingsubsystem, a vending subsystem, a printer or copy service subsystem, orany other type of building subsystem that uses controllable equipmentand/or sensors to monitor or control building 10. In some embodiments,building subsystems 428 include waterside system 200 and/or airsidesystem 300, as described with reference to FIGS. 2-3 .

Each of building subsystems 428 can include any number of devices,controllers, and connections for completing its individual functions andcontrol activities. HVAC subsystem 440 can include many of the samecomponents as HVAC system 100, as described with reference to FIGS. 1-3. For example, HVAC subsystem 440 can include a chiller, a boiler, anynumber of air handling units, economizers, field controllers,supervisory controllers, actuators, temperature sensors, and otherdevices for controlling the temperature, humidity, airflow, or othervariable conditions within building 10. Lighting subsystem 442 caninclude any number of light fixtures, ballasts, lighting sensors,dimmers, or other devices configured to controllably adjust the amountof light provided to a building space. Security subsystem 438 caninclude occupancy sensors, video surveillance cameras, digital videorecorders, video processing servers, intrusion detection devices, accesscontrol devices and servers, or other security-related devices.

Still referring to FIG. 4 , BMS controller 366 is shown to include acommunications interface 407 and a BMS interface 409. Interface 407 mayfacilitate communications between BMS controller 366 and externalapplications (e.g., monitoring and reporting applications 422,enterprise control applications 426, remote systems and applications444, applications residing on client devices 448, etc.) for allowinguser control, monitoring, and adjustment to BMS controller 366 and/orsubsystems 428. Interface 407 may also facilitate communications betweenBMS controller 366 and client devices 448. BMS interface 409 mayfacilitate communications between BMS controller 366 and buildingsubsystems 428 (e.g., HVAC, lighting security, lifts, powerdistribution, business, etc.).

Interfaces 407, 409 can be or include wired or wireless communicationsinterfaces (e.g., jacks, antennas, transmitters, receivers,transceivers, wire terminals, etc.) for conducting data communicationswith building subsystems 428 or other external systems or devices. Invarious embodiments, communications via interfaces 407, 409 can bedirect (e.g., local wired or wireless communications) or via acommunications network 446 (e.g., a WAN, the Internet, a cellularnetwork, etc.). For example, interfaces 407, 409 can include an Ethernetcard and port for sending and receiving data via an Ethernet-basedcommunications link or network. In another example, interfaces 407, 409can include a Wi-Fi transceiver for communicating via a wirelesscommunications network. In another example, one or both of interfaces407, 409 can include cellular or mobile phone communicationstransceivers. In one embodiment, communications interface 407 is a powerline communications interface and BMS interface 409 is an Ethernetinterface. In other embodiments, both communications interface 407 andBMS interface 409 are Ethernet interfaces or are the same Ethernetinterface.

Still referring to FIG. 4 , BMS controller 366 is shown to include aprocessing circuit 404 including a processor 406 and memory 408.Processing circuit 404 can be communicably connected to BMS interface409 and/or communications interface 407 such that processing circuit 404and the various components thereof can send and receive data viainterfaces 407, 409. Processor 406 can be implemented as a generalpurpose processor, an application specific integrated circuit (ASIC),one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable electronic processingcomponents.

Memory 408 (e.g., memory, memory unit, storage device, etc.) can includeone or more devices (e.g., RAM, ROM, Flash memory, hard disk storage,etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. Memory 408 can be or include volatile memory ornon-volatile memory. Memory 408 can include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present application. According to someembodiments, memory 408 is communicably connected to processor 406 viaprocessing circuit 404 and includes computer code for executing (e.g.,by processing circuit 404 and/or processor 406) one or more processesdescribed herein.

In some embodiments, BMS controller 366 is implemented within a singlecomputer (e.g., one server, one housing, etc.). In various otherembodiments BMS controller 366 can be distributed across multipleservers or computers (e.g., that can exist in distributed locations).Further, while FIG. 4 shows applications 422 and 426 as existing outsideof BMS controller 366, in some embodiments, applications 422 and 426 canbe hosted within BMS controller 366 (e.g., within memory 408).

Still referring to FIG. 4 , memory 408 is shown to include an enterpriseintegration layer 410, an automated measurement and validation (AM&V)layer 412, a demand response (DR) layer 414, a fault detection anddiagnostics (FDD) layer 416, an integrated control layer 418, and abuilding subsystem integration later 420. Layers 410-420 can beconfigured to receive inputs from building subsystems 428 and other datasources, determine optimal control actions for building subsystems 428based on the inputs, generate control signals based on the optimalcontrol actions, and provide the generated control signals to buildingsubsystems 428. The following paragraphs describe some of the generalfunctions performed by each of layers 410-420 in BMS 400.

Enterprise integration layer 410 can be configured to serve clients orlocal applications with information and services to support a variety ofenterprise-level applications. For example, enterprise controlapplications 426 can be configured to provide subsystem-spanning controlto a graphical user interface (GUI) or to any number of enterprise-levelbusiness applications (e.g., accounting systems, user identificationsystems, etc.). Enterprise control applications 426 may also oralternatively be configured to provide configuration GUIs forconfiguring BMS controller 366. In yet other embodiments, enterprisecontrol applications 426 can work with layers 410-420 to optimizebuilding performance (e.g., efficiency, energy use, comfort, or safety)based on inputs received at interface 407 and/or BMS interface 409.

Building subsystem integration layer 420 can be configured to managecommunications between BMS controller 366 and building subsystems 428.For example, building subsystem integration layer 420 may receive sensordata and input signals from building subsystems 428 and provide outputdata and control signals to building subsystems 428. Building subsystemintegration layer 420 may also be configured to manage communicationsbetween building subsystems 428. Building subsystem integration layer420 translate communications (e.g., sensor data, input signals, outputsignals, etc.) across a plurality of multi-vendor/multi-protocolsystems.

Demand response layer 414 can be configured to optimize resource usage(e.g., electricity use, natural gas use, water use, etc.) and/or themonetary cost of such resource usage in response to satisfy the demandof building 10. The optimization can be based on time-of-use prices,curtailment signals, energy availability, or other data received fromutility providers, distributed energy generation systems 424, fromenergy storage 427 (e.g., hot TES 242, cold TES 244, etc.), or fromother sources. Demand response layer 414 may receive inputs from otherlayers of BMS controller 366 (e.g., building subsystem integration layer420, integrated control layer 418, etc.). The inputs received from otherlayers can include environmental or sensor inputs such as temperature,carbon dioxide levels, relative humidity levels, air quality sensoroutputs, occupancy sensor outputs, room schedules, and the like. Theinputs may also include inputs such as electrical use (e.g., expressedin kWh), thermal load measurements, pricing information, projectedpricing, smoothed pricing, curtailment signals from utilities, and thelike.

According to some embodiments, demand response layer 414 includescontrol logic for responding to the data and signals it receives. Theseresponses can include communicating with the control algorithms inintegrated control layer 418, changing control strategies, changingsetpoints, or activating/deactivating building equipment or subsystemsin a controlled manner. Demand response layer 414 may also includecontrol logic configured to determine when to utilize stored energy. Forexample, demand response layer 414 may determine to begin using energyfrom energy storage 427 just prior to the beginning of a peak use hour.

In some embodiments, demand response layer 414 includes a control moduleconfigured to actively initiate control actions (e.g., automaticallychanging setpoints) which minimize energy costs based on one or moreinputs representative of or based on demand (e.g., price, a curtailmentsignal, a demand level, etc.). In some embodiments, demand responselayer 414 uses equipment models to determine an optimal set of controlactions. The equipment models can include, for example, thermodynamicmodels describing the inputs, outputs, and/or functions performed byvarious sets of building equipment. Equipment models may representcollections of building equipment (e.g., subplants, chiller arrays,etc.) or individual devices (e.g., individual chillers, heaters, pumps,etc.).

Demand response layer 414 may further include or draw upon one or moredemand response policy definitions (e.g., databases, XML, files, etc.).The policy definitions can be edited or adjusted by a user (e.g., via agraphical user interface) so that the control actions initiated inresponse to demand inputs can be tailored for the user's application,desired comfort level, particular building equipment, or based on otherconcerns. For example, the demand response policy definitions canspecify which equipment can be turned on or off in response toparticular demand inputs, how long a system or piece of equipment shouldbe turned off, what setpoints can be changed, what the allowable setpoint adjustment range is, how long to hold a high demand setpointbefore returning to a normally scheduled setpoint, how close to approachcapacity limits, which equipment modes to utilize, the energy transferrates (e.g., the maximum rate, an alarm rate, other rate boundaryinformation, etc.) into and out of energy storage devices (e.g., thermalstorage tanks, battery banks, etc.), and when to dispatch on-sitegeneration of energy (e.g., via fuel cells, a motor generator set,etc.).

Integrated control layer 418 can be configured to use the data input oroutput of building subsystem integration layer 420 and/or demandresponse later 414 to make control decisions. Due to the subsystemintegration provided by building subsystem integration layer 420,integrated control layer 418 can integrate control activities of thesubsystems 428 such that the subsystems 428 behave as a singleintegrated supersystem. In some embodiments, integrated control layer418 includes control logic that uses inputs and outputs from a pluralityof building subsystems to provide greater comfort and energy savingsrelative to the comfort and energy savings that separate subsystemscould provide alone. For example, integrated control layer 418 can beconfigured to use an input from a first subsystem to make anenergy-saving control decision for a second subsystem. Results of thesedecisions can be communicated back to building subsystem integrationlayer 420.

Integrated control layer 418 is shown to be logically below demandresponse layer 414. Integrated control layer 418 can be configured toenhance the effectiveness of demand response layer 414 by enablingbuilding subsystems 428 and their respective control loops to becontrolled in coordination with demand response layer 414. Thisconfiguration may advantageously reduce disruptive demand responsebehavior relative to conventional systems. For example, integratedcontrol layer 418 can be configured to assure that a demandresponse-driven upward adjustment to the setpoint for chilled watertemperature (or another component that directly or indirectly affectstemperature) does not result in an increase in fan energy (or otherenergy used to cool a space) that would result in greater total buildingenergy use than was saved at the chiller.

Integrated control layer 418 can be configured to provide feedback todemand response layer 414 so that demand response layer 414 checks thatconstraints (e.g., temperature, lighting levels, etc.) are properlymaintained even while demanded load shedding is in progress. Theconstraints may also include setpoint or sensed boundaries relating tosafety, equipment operating limits and performance, comfort, fire codes,electrical codes, energy codes, and the like. Integrated control layer418 is also logically below fault detection and diagnostics layer 416and automated measurement and validation layer 412. Integrated controllayer 418 can be configured to provide calculated inputs (e.g.,aggregations) to these higher levels based on outputs from more than onebuilding subsystem.

Automated measurement and validation (AM&V) layer 412 can be configuredto verify that control strategies commanded by integrated control layer418 or demand response layer 414 are working properly (e.g., using dataaggregated by AM&V layer 412, integrated control layer 418, buildingsubsystem integration layer 420, FDD layer 416, or otherwise). Thecalculations made by AM&V layer 412 can be based on building systemenergy models and/or equipment models for individual BMS devices orsubsystems. For example, AM&V layer 412 may compare a model-predictedoutput with an actual output from building subsystems 428 to determinean accuracy of the model.

Fault detection and diagnostics (FDD) layer 416 can be configured toprovide on-going fault detection for building subsystems 428, buildingsubsystem devices (i.e., building equipment), and control algorithmsused by demand response layer 414 and integrated control layer 418. FDDlayer 416 may receive data inputs from integrated control layer 418,directly from one or more building subsystems or devices, or fromanother data source. FDD layer 416 may automatically diagnose andrespond to detected faults. The responses to detected or diagnosedfaults can include providing an alert message to a user, a maintenancescheduling system, or a control algorithm configured to attempt torepair the fault or to work-around the fault.

FDD layer 416 can be configured to output a specific identification ofthe faulty component or cause of the fault (e.g., loose damper linkage)using detailed subsystem inputs available at building subsystemintegration layer 420. In other exemplary embodiments, FDD layer 416 isconfigured to provide “fault” events to integrated control layer 418which executes control strategies and policies in response to thereceived fault events. According to some embodiments, FDD layer 416 (ora policy executed by an integrated control engine or business rulesengine) may shut-down systems or direct control activities around faultydevices or systems to reduce energy waste, extend equipment life, orassure proper control response.

FDD layer 416 can be configured to store or access a variety ofdifferent system data stores (or data points for live data). FDD layer416 may use some content of the data stores to identify faults at theequipment level (e.g., specific chiller, specific AHU, specific terminalunit, etc.) and other content to identify faults at component orsubsystem levels. For example, building subsystems 428 may generatetemporal (i.e., time-series) data indicating the performance of BMS 400and the various components thereof. The data generated by buildingsubsystems 428 can include measured or calculated values that exhibitstatistical characteristics and provide information about how thecorresponding system or process (e.g., a temperature control process, aflow control process, etc.) is performing in terms of error from itssetpoint. These processes can be examined by FDD layer 416 to exposewhen the system begins to degrade in performance and alert a user torepair the fault before it becomes more severe.

Referring now to FIG. 5 , a block diagram of another building managementsystem (BMS) 500 is shown, according to some embodiments. BMS 500 can beused to monitor and control the devices of HVAC system 100, watersidesystem 200, airside system 300, building subsystems 428, as well asother types of BMS devices (e.g., lighting equipment, securityequipment, etc.) and/or HVAC equipment.

BMS 500 provides a system architecture that facilitates automaticequipment discovery and equipment model distribution. Equipmentdiscovery can occur on multiple levels of BMS 500 across multipledifferent communications busses (e.g., a system bus 554, zone buses556-560 and 564, sensor/actuator bus 566, etc.) and across multipledifferent communications protocols. In some embodiments, equipmentdiscovery is accomplished using active node tables, which provide statusinformation for devices connected to each communications bus. Forexample, each communications bus can be monitored for new devices bymonitoring the corresponding active node table for new nodes. When a newdevice is detected, BMS 500 can begin interacting with the new device(e.g., sending control signals, using data from the device) without userinteraction.

Some devices in BMS 500 present themselves to the network usingequipment models. An equipment model defines equipment objectattributes, view definitions, schedules, trends, and the associatedBACnet value objects (e.g., analog value, binary value, multistatevalue, etc.) that are used for integration with other systems. Somedevices in BMS 500 store their own equipment models. Other devices inBMS 500 have equipment models stored externally (e.g., within otherdevices). For example, a zone coordinator 508 can store the equipmentmodel for a bypass damper 528. In some embodiments, zone coordinator 508automatically creates the equipment model for bypass damper 528 or otherdevices on zone bus 558. Other zone coordinators can also createequipment models for devices connected to their zone busses. Theequipment model for a device can be created automatically based on thetypes of data points exposed by the device on the zone bus, device type,and/or other device attributes. Several examples of automatic equipmentdiscovery and equipment model distribution are discussed in greaterdetail below.

Still referring to FIG. 5 , BMS 500 is shown to include a system manager502; several zone coordinators 506, 508, 510 and 518; and several zonecontrollers 524, 530, 532, 536, 548, and 550. System manager 502 canmonitor data points in BMS 500 and report monitored variables to variousmonitoring and/or control applications. System manager 502 cancommunicate with client devices 504 (e.g., user devices, desktopcomputers, laptop computers, mobile devices, etc.) via a datacommunications link 574 (e.g., BACnet IP, Ethernet, wired or wirelesscommunications, etc.). System manager 502 can provide a user interfaceto client devices 504 via data communications link 574. The userinterface may allow users to monitor and/or control BMS 500 via clientdevices 504.

In some embodiments, system manager 502 is connected with zonecoordinators 506-510 and 518 via a system bus 554. System manager 502can be configured to communicate with zone coordinators 506-510 and 518via system bus 554 using a master-slave token passing (MSTP) protocol orany other communications protocol. System bus 554 can also connectsystem manager 502 with other devices such as a constant volume (CV)rooftop unit (RTU) 512, an input/output module (IOM) 514, a thermostatcontroller 516 (e.g., a TEC5000 series thermostat controller), and anetwork automation engine (NAE) or third-party controller 520. RTU 512can be configured to communicate directly with system manager 502 andcan be connected directly to system bus 554. Other RTUs can communicatewith system manager 502 via an intermediate device. For example, a wiredinput 562 can connect a third-party RTU 542 to thermostat controller516, which connects to system bus 554.

System manager 502 can provide a user interface for any devicecontaining an equipment model. Devices such as zone coordinators 506-510and 518 and thermostat controller 516 can provide their equipment modelsto system manager 502 via system bus 554. In some embodiments, systemmanager 502 automatically creates equipment models for connected devicesthat do not contain an equipment model (e.g., IOM 514, third partycontroller 520, etc.). For example, system manager 502 can create anequipment model for any device that responds to a device tree request.The equipment models created by system manager 502 can be stored withinsystem manager 502. System manager 502 can then provide a user interfacefor devices that do not contain their own equipment models using theequipment models created by system manager 502. In some embodiments,system manager 502 stores a view definition for each type of equipmentconnected via system bus 554 and uses the stored view definition togenerate a user interface for the equipment.

Each zone coordinator 506-510 and 518 can be connected with one or moreof zone controllers 524, 530-532, 536, and 548-550 via zone buses 556,558, 560, and 564. Zone coordinators 506-510 and 518 can communicatewith zone controllers 524, 530-532, 536, and 548-550 via zone busses556-560 and 564 using a MSTP protocol or any other communicationsprotocol. Zone busses 556-560 and 564 can also connect zone coordinators506-510 and 518 with other types of devices such as variable air volume(VAV) RTUs 522 and 540, changeover bypass (COBP) RTUs 526 and 552,bypass dampers 528 and 546, and PEAK controllers 534 and 544.

Zone coordinators 506-510 and 518 can be configured to monitor andcommand various zoning systems. In some embodiments, each zonecoordinator 506-510 and 518 monitors and commands a separate zoningsystem and is connected to the zoning system via a separate zone bus.For example, zone coordinator 506 can be connected to VAV RTU 522 andzone controller 524 via zone bus 556. Zone coordinator 508 can beconnected to COBP RTU 526, bypass damper 528, COBP zone controller 530,and VAV zone controller 532 via zone bus 558. Zone coordinator 510 canbe connected to PEAK controller 534 and VAV zone controller 536 via zonebus 560. Zone coordinator 518 can be connected to PEAK controller 544,bypass damper 546, COBP zone controller 548, and VAV zone controller 550via zone bus 564.

A single model of zone coordinator 506-510 and 518 can be configured tohandle multiple different types of zoning systems (e.g., a VAV zoningsystem, a COBP zoning system, etc.). Each zoning system can include aRTU, one or more zone controllers, and/or a bypass damper. For example,zone coordinators 506 and 510 are shown as Verasys VAV engines (VVEs)connected to VAV RTUs 522 and 540, respectively. Zone coordinator 506 isconnected directly to VAV RTU 522 via zone bus 556, whereas zonecoordinator 510 is connected to a third-party VAV RTU 540 via a wiredinput 568 provided to PEAK controller 534. Zone coordinators 508 and 518are shown as Verasys COBP engines (VCEs) connected to COBP RTUs 526 and552, respectively. Zone coordinator 508 is connected directly to COBPRTU 526 via zone bus 558, whereas zone coordinator 518 is connected to athird-party COBP RTU 552 via a wired input 570 provided to PEAKcontroller 544.

Zone controllers 524, 530-532, 536, and 548-550 can communicate withindividual BMS devices (e.g., sensors, actuators, etc.) viasensor/actuator (SA) busses. For example, VAV zone controller 536 isshown connected to networked sensors 538 via SA bus 566. Zone controller536 can communicate with networked sensors 538 using a MSTP protocol orany other communications protocol. Although only one SA bus 566 is shownin FIG. 5 , it should be understood that each zone controller 524,530-532, 536, and 548-550 can be connected to a different SA bus. EachSA bus can connect a zone controller with various sensors (e.g.,temperature sensors, humidity sensors, pressure sensors, light sensors,occupancy sensors, etc.), actuators (e.g., damper actuators, valveactuators, etc.) and/or other types of controllable equipment (e.g.,chillers, heaters, fans, pumps, etc.).

Each zone controller 524, 530-532, 536, and 548-550 can be configured tomonitor and control a different building zone. Zone controllers 524,530-532, 536, and 548-550 can use the inputs and outputs provided viatheir SA busses to monitor and control various building zones. Forexample, a zone controller 536 can use a temperature input received fromnetworked sensors 538 via SA bus 566 (e.g., a measured temperature of abuilding zone) as feedback in a temperature control algorithm. Zonecontrollers 524, 530-532, 536, and 548-550 can use various types ofcontrol algorithms (e.g., state-based algorithms, extremum seekingcontrol (ESC) algorithms, proportional-integral (PI) control algorithms,proportional-integral-derivative (PID) control algorithms, modelpredictive control (MPC) algorithms, feedback control algorithms, etc.)to control a variable state or condition (e.g., temperature, humidity,airflow, lighting, etc.) in or around building 10.

Systems and Methods for HVAC Control Using Total Energy Flow

Referring now to FIG. 6 , a diagram of a space 600 is shown, accordingto an exemplary embodiment. FIG. 6 illustrates various sources of heatflow into an example space 600 as well as various sensors configured tomeasure various physical parameters relating to the space 600. FIG. 6 isincluded for the sake of illustrating various heat flows and sensormeasurements, and should not be considered limiting. As used herein,“heat flow” may refer to a positive or negative value of energytransfer, for example such that a heat flow into the space 600 may haveeither a heating effect or a cooling effect on the space 600 dependingon the sign of the value of the heat flow.

As shown in FIG. 6 , the space 600 is located in a building thatincludes neighboring spaces 602 on either side of the space 600separated by interior walls 603. Heat may flow into the space 600 fromthe neighboring spaces 602 via the interior walls 603. The heat flowfrom the neighboring spaces 602 is a function of the relativetemperatures of the neighboring spaces 602 and the space 600 and thethermal conductivity/insulation of the interior walls 603. Temperaturesensors 604 are located in the neighboring spaces 602 and measure thetemperature of the neighboring spaces 602. The temperature of the space600 can be measured by a temperature sensor 606 located in the space600. As described in detail below, measurements from the temperaturesensors 604, 606 and information about the interior walls 603 can beused to estimate an amount of heat flow through the walls 603 at a givenpoint in time.

An exterior wall 608 on a third side of the space 600 separates thespace 600 from outdoor air 610 (i.e., from an external environmentsubject to weather, climate, etc.). Heat may flow into the space 600from the outdoor air 610 through the exterior wall 604. The heat flowfrom the outdoor air 610 to the space 600 is a function of the relativetemperatures of the outdoor air 610 and the space 600 and the thermalconductivity/insulation of the exterior wall 608. An outdoor airtemperature sensor 612 is configured to measure the temperature of theoutdoor air 610. As described in detail below, measurements from thetemperature sensors 606, 612 and information about the exterior wall 604can be used to estimate an amount of heat flow through the exterior wall604 at a given point in time. In some embodiments, a wind speed sensoror humidity sensor is also included to measure physical parameters ofthe outdoor air that may affect the rate of heat flow through theexterior wall 608.

As shown in FIG. 6 , the exterior wall 604 includes windows 614. Solarradiation 616 (i.e., light from the sun) can shine through the windows614 and add energy to the space 600 (i.e., provide heat flow to thespace 600). A window shade 618 can be included to selectively cover anduncover the windows 614. In some embodiments, the window shade 618 isconfigured to provide data relating to the position of the window shade618 (e.g., open, closed, partially open). In some embodiments, thewindow shade 618 is controllable to automatically change position tomanage the heat flow due to solar radiation 616. An exterior lightsensor 620 is included in the space 600 and is positioned to measure anamount of light entering the space 600 via the windows 614. Measurementsfrom the exterior light sensor 620 and/or data from the window shade 618can be used to estimate the heat flow into the space due to solarradiation 616.

Also as shown in FIG. 6 , lighting 622 is positioned in the space 600.Lighting 622 light fixtures and light sources (incandescent bulbs,florescent tubes, LEDs, etc.) configured to illuminate the space 600.The lighting 622 generates heat when operating to illuminate the space600. In some embodiments, the amount of heat generated by the lighting622 may be predetermined or otherwise known (e.g., by bench testingbefore installation of the lighting 622). The amount of heat generatedby the lighting 622 may vary based on which of various portions of thelighting 622 are turned on at a given time and/or based on a brightnesslevel of the lighting 622 (e.g., when the lighting 622 is dimmable). Thelighting 622 may be configured to provide data to a control systemrelating to the on/off level of the lighting 622, the brightness of thelighting 622, etc. In the embodiment shown, the lighting 622 can becontrolled by a light switch 623 and/or the control system 802 shown inFIG. 8 and described in detail below. In some embodiments, the lighting622 can be controlled to manage the heat generated by the lighting 622,e.g., as part of a control scheme for managing the temperature in thespace 600.

FIG. 6 also shows one or more laptop computers 624 and a desktopcomputer 626 located in the space 600. Operation of the laptopcomputer(s) 624 and the desktop computer 626 generates heat due to theelectrical resistance within electronic circuits of the computers 624,626. The amount of heat flow provided to the room by the computers 624,626 may vary as a function of the number of active computers 624, 626, aprocessing power and CPU utilization of each computer 624, 626, andother factors. In some embodiments, the computers 624, 626 provideutilization data to the control system 802 (described below) that can beused to estimate an amount of heat generated by the computers 624, 626.In some embodiments, a network hub (e.g., a WiFi router) is included forthe space 600 and is configured to provide information relating to thenumber of computers 624, 626 connected to a network (e.g., a WiFinetwork) at the space 600. Although shown as desktop computers 626 andlaptop computers 624, it should be understood that other computingdevices such as smartphones, tablets, gaming consoles, etc. may also beused in the space 600 and generate heat in the space 600.

FIG. 6 also shows a variety of other electronic devices, for example aprojector 627 and a telephone 628. The projector 627 may include a bulbthat generates light used to project an image or video on a screen inthe space 600. The bulb of the projector 627 generates heat when theprojector 627 is controlled to provide the image or video (i.e., whenthe projector 627 is “on”). In some embodiments, the rate of heatgeneration is a known value when the projector 627 is on (e.g.,determined by bench testing, listed in a specification sheet for theprojector 627). The telephone 628 may be a speaker phone or otherlandline phone located in the space 600. Due to electrical resistance inelectronic circuits of the telephone 628, the telephone 628 may generatea first level of heat while a phone call is in progress using thetelephone 628 and a second, lower level of heat while telephone 628 isidle. The amount of heat generated by the telephone 628 may bepredetermined (e.g., determined by bench testing). The telephone 628 mayprovide data relating to its utilization to the control system 802 shownin FIG. 8 and described below.

The space 600 is also shown to include multiple electrical outlets 630.The electrical outlets 630 are configured to provide electricity to avariety of electrical devices, appliances, etc. that can be connected tothe outlets 630, shown in FIG. 6 as other electrical outlet loads 632.The other electrical outlet loads 632 may result in heat flow to thespace 600 due to various operations of various devices corresponding tothe other electrical outlet loads 632. In some embodiments, the powerconsumed via the outlets 630 may be measured and used to estimate theamount of heat flow to the space 600 associated with the space 600.

As shown in FIG. 6 , people 634 (and/or other animals) can occupy thespace 600 and provide heat to the space 600 (i.e., body heat generatedby biological processes). The space 600 is also shown to include anoccupancy sensor 636 configured to determine whether one or more people634 are present in the space 600, count the number of people 634 in thespace 600, and/or count the number of people 634 that pass through adoor 637 that allows entry to the space 600. A carbon dioxide (CO₂)sensor 635 is included in the space 600 and is configured to measure theCO₂ level (concentration, etc.) in the space 600. Because CO₂ is exhaledby people 634 in the space 600, the level of CO₂ in the space 600 may beindicative of the number of people 634 in the space 600 and the activitylevel of the people 634 in the space 600. In other embodiments, asecurity camera is included in the space 600 and configured to collectimages and/or video of the space 600 that can be automatically processedto count a number of people in the space 600.

FIG. 6 also shows various other sensors associated with the space 600.For example, a humidity sensor 638 is positioned in the space 600 and isconfigured to measure the humidity in the space 600. As another example,a pressure sensor 640 is positioned in the space 600 and configured tomeasure an air pressure in the space 600. A door open/close sensor 639is configured to collect data regarding whether the door 637 is open orclosed. In some embodiments, the door open/close sensor 639 determines aduration of a time period for which the door is open or closed. In someembodiments, the door open/close sensor 639 is associated with an accesssystem configured to determine an identity of a person opening orclosing the door 637.

As shown in FIG. 6 , a setpoint adjustment interface 642 is positionedin the space 600. The setpoint adjustment interface 642 is configured toprovide an interface that a user can interact with to adjust a setpointfor the space 600, for example a temperature setpoint for the space 600.Accordingly, the setpoint adjustment interface 642 can receive userinput indicative of a user-desired temperature for the space 600. Insome embodiments, the setpoint adjustment interface 642 also providesheat to the space 600 due to electrical resistance in electroniccircuits of the setpoint adjustment interface 642. In some embodiments,the setpoint can be for humidity, air quality, or other condition.

As illustrated in FIG. 6 , the space 600 is served by HVAC equipment644. The HVAC equipment 644 is configured to provide a heat flow to thespace 600. That is, in various scenarios, the HVAC equipment 644 isconfigured to provide heating and/or cooling to the space 600. Asdescribed in detail below, the HVAC equipment 644 is controllable usinga combination of feedforward and feedback control to provide heatingand/or cooling to the space 600 to maintain the space 600 at or near atemperature setpoint for the space 600 based on quantified values of thevarious heat flows into the space 600 described above. In variousembodiments, different types of HVAC equipment 644 are included, forexample a variable air volume unit or an indoor unit of a variablerefrigerant flow system. The HVAC equipment 644 may be included in aHVAC system 100 shown as shown in FIG. 1 .

In some embodiments, the HVAC equipment 644 includes a ventilationsystem, a filtration system, or a ventilation/filtration system 645.Ventilation/filtration system 645 includes a filters for filtering outparticulates (e.g., pathogens) in some embodiments.Ventilation/filtration system 645 includes a ventilator or other devicesfor providing a source of air (e.g., fresh air) in some embodiments.Ventilation/filtration system 645 includes ultraviolet (UV) lightequipment or aerosol equipment for killing pathogens in someembodiments.

Referring now to FIG. 7 , a block diagram illustrating heat flows at thespace 600 is shown, according to an exemplary embodiment. The variousheat flows described above are shown under the heading “disturbances,” aterm used herein to refer to the various heat flows to the space 600other than from the HVAC equipment 644. That is, as illustrated in FIG.7 , people, lighting, computers, other electronic devices, solarradiation, outdoor air, and other heat flows (e.g., from neighboringspaces, from animals in the space) provide heat to the space, the totalof which is denoted as {dot over (Q)}_(other). It should be understoodthat, depending on the relative values of the various heat flows, thenet value of {dot over (Q)}_(other) at any given point in time can bepositive (indicating heating of the space 600 by the disturbances) ornegative (indicating cooling of the space 600 by the disturbances). Insome embodiments, weather, movement of people or equipment, use ofkitchen equipment, appliances and fireplaces can be used in heattransfer and air quality estimations.

As shown in FIG. 7 , HVAC equipment 644 operates to provide heat {dotover (Q)}_(HVAC) to the space 600. When HVAC equipment 644 is in aheating mode, {dot over (Q)}_(HVAC) is greater than zero. when HVACequipment 644 is in a cooling mode, {dot over (Q)}_(HVAC) is less thanzero.

In the example of FIG. 7 , the two values {dot over (Q)}_(HVAC) and {dotover (Q)}_(other) characterize the total energy flow to the space 600,{dot over (Q)}_(total)={dot over (Q)}_(HVAC)+{dot over (Q)}_(other). Theindoor air temperature within the space 600 changes based on the valueof {dot over (Q)}_(total). When {dot over (Q)}_(total)>0, thetemperature in the space 600 increases. When {dot over (Q)}_(total)<0,the temperature in the space 600 decreases. When {dot over(Q)}_(total)=0, the temperature in the space 600 stays approximatelyconstant. Accordingly, if the HVAC equipment 644 is controlled toprovide {dot over (Q)}_(HVAC)=−{dot over (Q)}_(other). the space 600 ismaintained approximately at an established temperature, for example asetpoint temperature selected by a user via setpoint adjustmentinterface 642. However, {dot over (Q)}_(other) cannot be measureddirectly. Accordingly, as described in detail below, the systems andmethods described herein apply a combination of feedforward controlbased on estimations of disturbance heat flows and feedback control tocontrol {dot over (Q)}_(HVAC) to manage the total heat flow for thespace 600.

Referring now to FIG. 8 , a block diagram of a system 800 is shown,according to an exemplary embodiment. The system 800 includes a controlsystem 802 communicably coupled to sensors 804 and HVAC equipment 644.In various embodiments, the system 800 may be included with a BMS, forexample BMS 400 of FIG. 4 or BMS 500 of FIG. 5 . The HVAC equipment 644is configured to provide {dot over (Q)}_(HVAC) to the space 600. In theexample shown in FIG. 8 and described below, the HVAC equipment 644 is avariable air volume box. In other embodiments, other types of HVACequipment 644 are included.

The sensors 804 are configured to obtain measurements of parametersrelating to the space 600 and provide the measurements (i.e., datacollected by the sensors 804) to the control system 802. The sensors 804can include the temperature sensors 604, 606, 612, exterior light sensor620, CO₂ sensor 635, occupancy sensor 636, humidity sensor 638, pressuresensor 640, and/or various other sensors (e.g., an air quality sensor)included with the space 600. For example, the sensors 804 may alsoinclude power meter(s) configured to measure electrical consumption atthe space 600 (e.g., via outlet 630). As another example, the sensors804 may include one or more data sources configured to obtain activitymetrics for the computers 624, 626 (e.g., number of computers present inthe space 600, number of computers connected to a network, CPUutilization of each computer, etc.), for the projector 627, for thetelephone 628, for the lighting 622, and/or for other various deviceslocated in the space 600. Sensor 635 can be an air quality sensor asdescribed with above. A camera 641 can be provided that provides thermalimages and/or visual images. Algorithms can be used to determine skintemperature, changes in skin color, perspiration, and movement from theimages provided by the camera 641. Other sensors 804 can be included invarious embodiments, including security cameras, access control devices,fire detection devices, etc. The sensors 804 may be communicable withthe control system via a building automation network, for example usinga BACnet/MSTP or Modbus protocol, or a IT network, for example using anIP protocol, or some combination thereof.

The control system 802 is shown to include a feedforward disturbanceestimation circuit 806, a feedback disturbance estimation circuit 808, acombiner circuit 810, and an equipment control circuit 812. Thefeedforward disturbance estimation circuit 806 is configured to receivemeasurements from the sensors 804 and generate an estimated disturbanceheat flow {circumflex over ({dot over (Q)})}_(other) based on themeasurements. The feedforward disturbance estimation circuit 806 is alsoconfigured to generate a feedforward heat flow contribution {circumflexover ({dot over (Q)})}_(HVAC,FF) based on the estimated disturbance heatflow {circumflex over ({dot over (Q)})}_(other) and provide thefeedforward heat flow contribution {circumflex over ({dot over(Q)})}_(HVAC,FF) to the combiner circuit 810. The feedforwarddisturbance estimation circuit 806 is shown in detail in FIG. 9 anddescribed in further detail with reference thereto. The feedforwarddisturbance estimation circuit 806 can use skin temperature as ameasurement in some embodiments.

The feedback disturbance estimation circuit 808 is configured to receiveindoor air temperature measurements T_(space) of the space 600 (e.g.,from temperature sensor 606) and the setpoint temperature T_(setpoint)for the space 600 and apply a feedback control approach to generate afeedback heat flow contribution {circumflex over ({dot over(Q)})}_(HVAC,FB) that attempts to drive the measured temperatureT_(space) towards the setpoint T_(setpoint). For example, the feedbackdisturbance estimation circuit 808 may apply a proportional-integralcontrol approach, a proportional-integral-derivative control approach,etc. to generate the feedback heat flow contribution {circumflex over({dot over (Q)})}_(HVAC,FB). Because the feedback heat flow contribution{circumflex over ({dot over (Q)})}_(HVAC,FB) quantifies an amount ofheat to be generated by the HVAC equipment 644 to counteract effects ofthe disturbance heat flows on the temperature in the space 600 tomaintain T_(space) at the setpoint T_(setpoint), the feedback heat flowcontribution {circumflex over ({dot over (Q)})}_(HVAC,FB) corresponds toan estimated disturbance heat flow {circumflex over ({dot over(Q)})}_(other). Accordingly, by generating the feedback heat flowcontribution {circumflex over ({dot over (Q)})}_(HVAC,FB), the feedbackdisturbance estimation circuit 808 estimates the disturbance heat flow{circumflex over ({dot over (Q)})}_(other). The use of skin temperaturein the feedback disturbance estimation circuit 808 for comparison to asetpoint skin temperature can provide faster feedback as the entirespace 600 does not have to change temperature and an immediate parameterof occupant comfort is used.

The combiner circuit 810 is configured to receive the feedforward heatflow contribution {circumflex over ({dot over (Q)})}_(HVAC,FF) and thefeedback heat flow contribution {circumflex over ({dot over(Q)})}_(HVAC,FB) and generate a combined control signal {circumflex over({dot over (Q)})}_(HVAC). In some embodiments, the combiner circuit 810is configured to calculate the combined control signal {circumflex over({dot over (Q)})}_(HVAC) as an average or weighted average of thefeedforward heat flow contribution {circumflex over ({dot over(Q)})}_(HVAC,FF) and the feedback heat flow contribution {circumflexover ({dot over (Q)})}_(HVAC,FB). Various methods of calculating thecombined control signal {circumflex over ({dot over (Q)})}_(HVAC) basedon the feedforward heat flow contribution {circumflex over ({dot over(Q)})}_(HVAC,FF) and the feedback heat flow contribution {circumflexover ({dot over (Q)})}_(HVAC,FB) are contemplated by the presentdisclosure.

The equipment control circuit 812 is configured to receive the combinedcontrol signal {circumflex over ({dot over (Q)})}_(HVAC), whichcharacterizes an amount of heat to be provide to the space 600 by theHVAC equipment 644, and determine equipment setpoints for the HVACequipment 644 to achieve the amount of heat specified by the combinedcontrol signal {circumflex over ({dot over (Q)})}_(HVAC). In the exampleshown, the HVAC equipment 644 includes a VAV box. The VAV box iscontrollable to provide a rate of supply air {dot over (m)}_(sa) (i.e.,air flow with units of mass/time) at a supply air temperature T_(sa).The equipment controller is configured to receive the combined controlsignal {circumflex over ({dot over (Q)})}_(HVAC) and determine a flowrate setpoint {dot over (m)}_(sa,sp) and a supply air temperaturesetpoint T_(sa,sp) at which the VAV box supplies the heat flow{circumflex over ({dot over (Q)})}_(HVAC) as requested by the combinedcontrol signal generated by the combiner circuit 810. For example, insome embodiments, the equipment control circuit 812 calculates thevalues of {dot over (m)}_(sa,sp) and T_(sa,sp) using the equations

${\overset{˙}{m}}_{{sa},{sp}} = \frac{{\hat{\overset{.}{Q}}}_{HVAC}}{c_{p}*\left( {T_{sa} - T_{setpoint}} \right)}$and/or

${T_{{sa},{sp}} = {\frac{{\hat{\overset{.}{Q}}}_{HVAC}}{{\overset{˙}{m}}_{sa}*c_{p}} + T_{space}}},$where c_(p) is the specific heat capacity of the air in the space 600.The equipment control circuit 812 provides the equipment setpoints(i.e., {dot over (m)}_(sa,sp) and T_(sa,sp)) to the HVAC equipment 644.

The HVAC equipment 644 receives the equipment setpoints and operates toprovide supply air to the space 600 in accordance with the equipmentsetpoints. In the example shown, the HVAC equipment 644 includes adamper controller 814 configured to control a damper position P_(damper)for a damper 816 to control an actual air flow rate {dot over (m)}_(sa)towards the setpoint {dot over (m)}_(sa,sp). The damper controllerreceives measurements of the flow rate {dot over (m)}_(sa) and {dot over(m)}_(sa,sp) and uses feedback control to select the damper positionP_(damper). The damper 816 allows a variable rate of airflow into thespace 600 based on the position of the damper 816.

The HVAC equipment 644 is also shown to include a valve controller 818configured to control a valve position P_(valve) for a valve and reheatcoil 820. The valve position affects the amount of heat transfer thatoccurs between the reheat coil 820 and the supply air as the supply airis forced through the HVAC equipment 644. The position of the valve ofthe valve and reheat coil 820 can therefore be controlled to manage thesupply air temperature T_(sa). The valve controller 818 receives{circumflex over ({dot over (Q)})}_(HVAC) measurements of the supply airtemperature T_(sa) and the supply air temperature setpoint T_(sa,sp) anduses feedback control to select the valve position P_(valve) to driveT_(sa) toward T_(sa,sp).

The HVAC equipment 644 is thereby controlled to provide HVAC heat flow{dot over (Q)}_(HVAC) to the space 600. When the HVAC equipment 644 iswell-controlled (e.g., when {dot over (m)}_(sa)={dot over (m)}_(sa,sp)and T_(sa)=T_(sa,sp)), {dot over (Q)}_(HVAC) is approximately equal tothe combined control signal {circumflex over ({dot over (Q)})}_(HVAC).Because the combined control signal {circumflex over ({dot over(Q)})}_(HVAC) can represent the negative of an estimated disturbanceheat flow {circumflex over ({dot over (Q)})}_(other), the HVAC equipment644 can thereby provide an amount of heat {dot over (Q)}_(HVAC) that isapproximately equal in magnitude to the actual disturbance heat flow{dot over (Q)}_(other). The system 800 is thereby configured to maintainthe temperature of the space 600 at or near a setpoint temperature byproviding an HVAC heat flow {dot over (Q)}_(HVAC) that is approximatelyequal in magnitude to the disturbance heat flow {dot over (Q)}_(other).In some embodiments, the feedforward disturbance estimation circuit 806is configured to receive air quality measurements from the sensors 804and generate an estimated disturbance of air quality based on themeasurements. For example, number of occupants, weather, humidity,movement of personal could be used to estimate a disturbance to airquality (e.g., carbon dioxide and/or particulates). In some embodiments,outside influences of air quality such as traffic levels, environmentalconditions, ozone levels, and pollution levels can be used for theprediction. The feedforward disturbance estimation circuit 806 is alsoconfigured to generate a feedforward air quality contribution based onthe estimated disturbance of air quality and provide the feedforward airquality contribution to the combiner circuit 810.

In some embodiments, the feedforward disturbance estimation circuit 806is configured to receive air quality measurements from the sensors 804and generate an estimated disturbance of air quality based on themeasurements. For example, number of personal, weather, humidity,movement of personal could be used to estimate a disturbance to airquality (e.g., carbon dioxide, allergens, ozone, pathogens, and/orparticulates). The feedforward disturbance estimation circuit 806 isalso configured to generate a feedforward air quality contribution basedon the estimated disturbance of air quality and provide the feedforwardair quality contribution to the combiner circuit 810. In someembodiments, the feedforward disturbance estimation circuit 806 usesmachine learning to estimate the feed forward air quality distributionbased upon inputs such as occupancy, weather, movement, and time. Insome embodiments, historical data is used for making the feedforward airquality contribution.

In some embodiments, the feedforward disturbance estimation circuit 806is configured to receive air quality measurements from the sensors 804and generate an estimated disturbance of air quality based on themeasurements. For example, number of personal, weather, humidity,movement of personal could be used to estimate a disturbance to airquality (e.g., carbon dioxide and/or particulates). The feedforwarddisturbance estimation circuit 806 is also configured to generate afeedforward air quality contribution based on the estimated disturbanceof air quality and provide the feedforward air quality contribution tothe combiner circuit 810.

In some embodiments, the feedback disturbance estimation circuit 808 isconfigured to receive indoor air quality measurements of the space 600(e.g., from an air quality sensor such as sensor 635) and the setpointair quality for the space 600 and apply a feedback control approach togenerate a feedback air quality contribution that attempts to drive themeasured air quality towards the setpoint. The feedback disturbanceestimation circuit 808 may apply a proportional-integral controlapproach, a proportional-integral-derivative control approach, etc. togenerate the feedback air quality contribution. Because the feedback airquality contribution quantifies an amount of filtering or ventilation tocounteract effects of the disturbance on the air quality in the space600 to maintain air quality at the setpoint, the feedback air qualitycontribution corresponds to an estimated air quality disturbance.Accordingly, by generating the feedback air quality contribution, thefeedback disturbance estimation circuit 808 estimates the air qualitydisturbance.

The setpoint can be an air quality set point provided by a user or avalue set by control system 802. The set point can be adjusted forweather, societal factors, and other building conditions. For example,the set point for air quality can be adjusted seasonally, can beadjusted based upon health conditions in the area, uses of the space600, age of occupants, etc.

The combiner circuit 810 is configured to receive the feedforward airquality contribution and the feedback air quality contribution andgenerate a combined control signal for the ventilation/filter system817. In some embodiments, the combiner circuit 810 is configured tocalculate the combined control signal as an average or weighted averageof the air quality contribution and the feedback air qualitycontribution. Various methods of calculating the combined control signalbased on the feedforward air quality contribution and the feedback airquality contribution are contemplated by the present disclosure. In someembodiments, the combiner circuit 810 uses machine learning to determinethe combined control signal based upon receive the feedforward airquality contribution and the feedback air quality contribution. In someembodiments, historical data is used for determining the combinedcontrol signal.

The equipment control circuit 812 is configured to receive the combinedcontrol signal which characterizes an amount of filtering and/orventilating to be provide to the space 600 by the HVAC equipment 644,and determine equipment setpoints for the HVAC equipment 644 to achievethe amount of air quality specified by the combined control signal. Forexample, the combined control signal can select types of filtersdepending upon the type of composition causing the air quality issue.The ventilation and filtration system 817 can include multiple pathswith multiple types of filters or UV and aerosol treatments, eachconfigured for a type of pollutant, particulate, pathogen, etc. The pathcan be chosen based upon the combined control signal. In addition, thechoosing of filtering and/or ventilation can be based upon outside airconditions and the type of air quality issue in some embodiments.

Referring now to FIG. 9 , a detailed view of the feedforward disturbanceestimation circuit 806 is shown, according to an exemplary embodiment.As illustrated in FIG. 9 , the feedforward disturbance estimationcircuit 806 receives measurements (e.g., from sensors 804 and camera805) and generates a feedforward heat flow contribution {circumflex over({dot over (Q)})}_(HVAC,FF). The feedforward disturbance estimationcircuit 806 is shown to include a disturbance summation circuit 900 thatdetermines and outputs the feedforward heat flow contribution{circumflex over ({dot over (Q)})}_(HVAC,FF) based on heat flowestimations from multiple heat flow estimation circuits of thefeedforward disturbance estimation circuit 806. In the example shown,the feedforward disturbance estimation circuit 806 includes a lightingheat flow estimation circuit 902, a computer heat flow estimationcircuit 904, a people heat flow estimation circuit 906, a solarradiation heat flow estimation circuit 908, an outdoor air heat flowestimation circuit 910, an other heat flow estimation circuit 912 and anair quality estimation circuit 914.

Each of the various heat flow estimation circuit 902-914 is configuredto generate an estimation of a corresponding disturbance heat flow.Accordingly, the heat flow estimation circuits included in a particularimplementation can vary to account for the particular disturbance heatflows relevant for space served by the particular implementation.Additionally, while the various heat estimation circuits 902-914 areseparate circuits included within the feedforward disturbance estimationcircuit 806 in the embodiment of FIG. 9 , it should be understood thatthe functions attributed thereto herein may be implemented in a varietyof architectures. As discussed above, the disturbance estimation circuit806 can be utilized to provide an air quality disturbance estimate.

The lighting heat flow estimation circuit 902 is configured to estimatea heat flow into the space 600 created by the lighting 622 in the space600, for example incandescent light bulbs, florescent tubes, lightemitting diodes, etc. positioned in the space 600. In some embodiments,the lighting heat flow estimation circuit 902 receives lighting data(‘measurements’ within the meaning of the present application) relatingto whether the lighting 622 (or portions thereof) is on, off, or set toa particular illumination level at each time step. In some embodiments,the lighting data is received from IP-enabled lighting devices and/orIP-enabled light switches/controllers. In some embodiments, the lightingdata is received from a sensor 804 that measures the brightness of thespace 600. In some embodiments, the lighting heat flow estimationcircuit 902 also stores a look-up table of predetermined heat outputs ofthe lighting 622. In such embodiments, the lighting heat flow estimationcircuit 902 associates the lighting data (e.g., indicating that alllighting 622 is turned on for the space 600) with an entry in thelook-up table that indicates that the lighting 622 outputs apredetermined value of energy per unit time for each possible state ofthe lighting 622 (e.g., 2 BTU when all lighting 622 is turned on). Thelighting heat flow estimation circuit 902 can then estimate thedisturbance heat flow to be approximately equal to the predeterminedvalue of energy per unit time output by the lighting 622 when thelighting 622 is in the state indicated by the lightingdata/measurements. The lighting heat flow estimation circuit 902provides the estimate of the lighting heat flow to the disturbancesummation circuit 900.

The computer heat flow estimation circuit 904 is configured to estimatea heat flow into the space 600 created by computers 624, 626 in thespace. In some embodiments, the computer heat flow estimation circuit904 receives data (measurements) indicative of the number of computerspresent in the space 600. For example, a WiFi router that provides aWiFi network in the space 600 may be configured to determine a number ofcomputers connected to the WiFi network in the space 600 and provide thenumber to the computer heat flow estimation circuit 904. As anotherexample, the computers 624, 626 may be configured to self-measure theCPU utilization or other activity metric of the computers 624, 626 andprovide such measurements to the computer heat flow estimation circuit904. The computer heat flow estimation circuit 904 is configured toreceive information about the number of computers in the space 600, theutilization of the computers, etc. and generate an estimation of thecorresponding heat generation.

In some embodiments, the computer heat flow estimation circuit 904stores an average heat generation value that characterizes the averageamount of heat generated by a computer 624, 626. The computer heat flowestimation circuit 904 can multiple this average value by the number ofcomputers in the space 600 (based on received data/measurements) toobtain an estimation of the heat generated by the computers 624, 626. Insome embodiments, computer heat flow estimation circuit 904 applies ascaling factor or other algorithm that translated CPU utilization orother computer activity data into a corresponding heat estimation. Thecomputer heat flow estimation circuit 904 provides an estimation of theheat generated by the computers 624, 626 to the disturbance summationcircuit 900.

The people heat flow estimation circuit 906 is configured to estimatethe heat flow provided by people in the space 600 and provide theestimation to the disturbance summation circuit 900.

In some embodiments, the people heat flow estimation circuit 906receives measurements from the occupancy counter or sensor 636 thatindicate the number of people in the space 600. In such embodiments, thepeople heat flow estimation circuit 906 may estimate the heat generatedby the people as a multiple of the number of people in the space (asmeasured by the occupancy sensor 636) and a predetermined per-personheat value.

In some embodiments, the people heat flow estimation circuit 906 isconfigure to use measurements from the CO₂ sensor 635 to improve thedetermination of the number of the people in the space 600. In someembodiments, the amount of CO₂ exhaled by people in the space 600 isindicative of an activity level of people in the space and thereforecorrelate with the heat generated by the people in the space 600. Forexample, if people in the space 600 are exercising, the people willoutput more CO₂ and heat than if the people are sitting still.Accordingly, in some embodiments, the people heat flow estimationcircuit 906 is configured to analyze measurements from the CO₂ sensor635 (e.g., in combination with the occupancy sensor 636) to estimate theheat generated by the people in the space 600. Camera 641 can be used totrack people's movement for occupancy and for CO_(s) contributions.People's movement can increase particulates and reduce air quality.

In various other embodiments, the people heat flow estimation circuit906 is configured to augment, improve, verify, etc. estimations of thenumber of people in the space 600 and/or the heat generated by thepeople in the space 600 using various other sensors and data streams.For example, in some embodiments, the number of people in the space 600can be estimated based on a number of smartphones connected to a WiFirouter in the space 600 as measured by the WiFi router, based on anassumption that approximately everyone in the space 600 is carrying asmartphone connected to the WiFi network. As another example, datarelating to the number of people who pass through the door 637 to thespace 600 (e.g., from the door open/close sensor 639 or asecurity/access system) can be used to augment, improve, verify, etc.estimations of the number of people in the space 600. The people heatflow estimation circuit 906 can be configured to use any variety of suchdata sources in various embodiments.

The solar radiation heat flow estimation circuit 908 is configured toestimate an amount of heat provide to the space 600 by solar radiation616 incident on the space 600. In some embodiments, the solar radiationheat flow estimation circuit 908 receives measurements of the externallight received at the space 600 from the external light sensor 620. Insome embodiments, the solar radiation heat flow estimation circuit 908is communicable with a weather service (e.g., a web-based source ofweather data accessible via the Internet) that provides informationrelating to the occlusion and/or position of the sun at a given time(e.g., indicating that a particular type of cloud is present, indicatinga time of sunrise or sunset, etc.). In some embodiments, the solarradiation heat flow estimation circuit 908 receives position informationfrom the window shade 618 indicating whether the window shade 618 isdeployed to block solar radiation from entering the space 600 viawindows 614.

Based on such data (or a combination thereof), the solar radiation heatflow estimation circuit 908 uses such measurements to estimate theamount of heat provided by the solar radiation 616 (e.g., light enteringthe space 600 via the windows 614 and/or providing energy to exteriorwall 608). In some embodiments, the solar radiation heat flow estimationcircuit 908 also uses other static parameters of the space, for examplea surface area of the space (e.g., of exterior wall 608) on which solarradiation 616 may fall, a geographical orientation of the exterior wall608 (i.e., north-facing, south-facing, east-facing, etc.), latitude ofthe space 600 on Earth, etc. In some embodiments, the date or season(i.e., the time of year) is used by the solar radiation heat flowestimation circuit 908 in estimating the heat flow for the spaceattributed to solar radiation 616. The solar radiation heat flowestimation circuit 908 provides the estimation to the disturbancesummation circuit 900.

The outdoor air heat flow estimation circuit 910 is configured toestimate the heat transfer from the outdoor air 610 to the space 600 viathe exterior wall 608 and/or the windows 614. In some embodiments, theoutdoor air heat flow estimation circuit 910 receives measurements ofthe outdoor air temperature from the outdoor air temperature sensor 612.In some embodiments, the outdoor air heat flow estimation circuit 910 iscommunicable with a weather service (e.g., a web-based source of weatherdata accessible via the Internet) that provides information relating toproperties of the outdoor air (temperature, humidity, wind speed, etc.)that can affect heat transfer. In some embodiments, the outdoor air heatflow estimation circuit 910 also receives measurements relating to theindoor air, for example indoor air temperature measured by thetemperature sensor 606 and indoor air humidity measured by the humiditysensor 638. In some embodiments, the outdoor air heat flow estimationcircuit 910 receives a measurement of the indoor air pressure by sensor640 and can compare the indoor air pressure to the outdoor air pressure(e.g., from a weather service, from an outdoor pressure sensor) toimprove approximation of heat transfer. Such measurements can be used bythe outdoor air heat flow estimation circuit 910 to estimate the heattransfer from the outdoor air 610 to the space 600.

In some embodiments, the outdoor air heat flow estimation circuit 910stores pre-determined metrics relating to the thermal insulation orconductivity of the exterior wall 608. For example, based on the surfacearea, thickness, materials, etc. of the exterior wall 608, a functionmay be pre-constructed that maps a difference between outdoor airtemperature and indoor air temperature to a rate of heat transferthrough the wall 608. In some embodiments, humidity and/or wind speedare included as variables in such a function. In such an example, theoutdoor air heat flow estimation circuit 910 is configured to use themeasurements as inputs to the function to calculate an estimated heattransfer from the outdoor air 610 to the space 600.

The other heat flow estimation circuit 912 is configured to estimateother miscellaneous heat flows at the space 600 (i.e., heat flows notassessed by heat flow estimation circuits 902-910). In some embodiments,the other heat flow estimation circuit 912 quantifies heat flows frommiscellaneous devices in the space 600, for example projector 627,telephone 628, and setpoint adjustment interface 642. In someembodiments, the other heat flow estimation circuit 912 quantifies heatflows from neighboring spaces 602 to the space 600 via interior walls603 (e.g., based on measurements from temperature sensors 604 in theneighboring spaces 602). In some cases, measurements from the pressuresensor 640 and pressure sensors located in neighboring spaces can beused to facilitate estimation of air flow between neighboring spaces,through door 639, etc.

In some cases, the other heat flow estimation circuit 912 may provide anestimate of a static miscellaneous heat flow that quantifiesdisturbances that provide approximately constant heat transfer. Forexample, the telephone 628, the setpoint adjustment interface 642,various sensors 804, etc. may operate constantly and generate anapproximately constant amount of heat from electrical resistancetherein.

The air quality estimation circuit 914 is configured to estimate otherair quality at the space 600. In some embodiments, the air qualityestimation circuit 914 quantifies air quality. In some cases,measurements from the sensors 804 and camera 805 located in neighboringspaces can be used to facilitate estimation of air quality fromneighboring spaces that can affect the air quality, through door 639,etc.

It should be understood that in other embodiments, various heat flowestimations may be executed by the heat flow estimation circuits 902-914based on measurements from sensors 804, images from camera 805, otherexternal data sources (e.g., web-based weather services, room schedulingsystem, other specialty systems), and pre-stored/pre-determined data(e.g., physical parameters of the space, average heat outputs of variousdevices or organisms, etc.). In some embodiments, the heat flowestimation circuits 902-914 generate estimations of all non-negligibledisturbance heat flows at the space 600, i.e., all non-negligiblepositive or negative transfers of heat flow into the indoor air in thespace 600.

The disturbance summation circuit 900 receives the various estimatedheat flows from the heat flow estimation circuits 902-914 and adds themtogether to calculate a total estimated disturbance heat flow{circumflex over ({dot over (Q)})}_(other). If the space 600 is alreadyat or near a setpoint temperature of the space, the disturbancesummation circuit 900 then generates a feedforward heat flowcontribution having a value {circumflex over ({dot over (Q)})}_(HVAC,FF)equal to −{circumflex over ({dot over (Q)})}_(other). That is, in theembodiment shown, the disturbance summation circuit 900 generates afeedforward heat flow contribution intended to control the HVACequipment 644 to counteract the effects of the various disturbance heatflows on the temperature in the space 600 to maintain the space 600 atan established setpoint temperature. In some embodiments, if thetemperature at the space 600 has deviated from the setpoint temperature,the disturbance summation circuit 900 can define value {circumflex over({dot over (Q)})}_(HVAC,FF) equal to −{circumflex over ({dot over(Q)})}_(other) plus or minus a factor configured to cause {circumflexover ({dot over (Q)})}_(HVAC,FF) to deviate from −{circumflex over ({dotover (Q)})}_(other) in order to control the HVAC equipment 644 to drivethe temperature at the space 600 toward the temperature setpoint. Insome embodiments, the HVAC equipment 644 is driven to drive humidity andair quality toward a setpoint.

As described above with reference to FIG. 8 , the feedforwarddisturbance estimation circuit 806 provides the feedforward heat flowcontribution {circumflex over ({dot over (Q)})}_(HVAC,FF) to thecombiner circuit 810, which generates a combined control signal based onthe feedforward heat flow contribution {circumflex over ({dot over(Q)})}_(HVAC,FF) and the feedback heat flow contribution {circumflexover ({dot over (Q)})}_(HVAC,FB) and provides the combined controlsignal to the equipment control circuit 812. The HVAC equipment 644 isthereby controlled based on the feedforward heat flow contribution{circumflex over ({dot over (Q)})}_(HVAC,FF) (i.e., based on the variousheat flow estimations obtained by the heat flow estimation circuits902-914).

Configuration of Exemplary Embodiments

Although the figures show a specific order of method steps, the order ofthe steps may differ from what is depicted. Also two or more steps canbe performed concurrently or with partial concurrence. Such variationwill depend on the software and hardware systems chosen and on designerchoice. All such variations are within the scope of the disclosure.Likewise, software implementations could be accomplished with standardprogramming techniques with rule based logic and other logic toaccomplish the various connection steps, calculation steps, processingsteps, comparison steps, and decision steps.

The construction and arrangement of the systems and methods as shown inthe various exemplary embodiments are illustrative only. Although only afew embodiments have been described in detail in this disclosure, manymodifications are possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.). For example, the position of elements can bereversed or otherwise varied and the nature or number of discreteelements or positions can be altered or varied. Accordingly, all suchmodifications are intended to be included within the scope of thepresent disclosure. The order or sequence of any process or method stepscan be varied or re-sequenced according to alternative embodiments.Other substitutions, modifications, changes, and omissions can be madein the design, operating conditions and arrangement of the exemplaryembodiments without departing from the scope of the present disclosure.

As utilized herein, the terms “approximately,” “about,” “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the disclosure as recited inthe appended claims.

As used herein, the term “circuit” may include hardware structured toexecute the functions described herein. A “controller” may include oneor more circuits. In some embodiments, each respective “circuit” mayinclude machine-readable media for configuring the hardware to executethe functions described herein. The circuit may be embodied as one ormore circuitry components including, but not limited to, processingcircuitry, network interfaces, peripheral devices, input devices, outputdevices, sensors, etc. In some embodiments, a circuit may take the formof one or more analog circuits, electronic circuits (e.g., integratedcircuits (IC), discrete circuits, system on a chip (SOCs) circuits,etc.), telecommunication circuits, hybrid circuits, and any other typeof “circuit.” In this regard, the “circuit” may include any type ofcomponent for accomplishing or facilitating achievement of theoperations described herein. For example, a circuit as described hereinmay include one or more transistors, logic gates (e.g., NAND, AND, NOR,OR, XOR, NOT, XNOR, etc.), resistors, multiplexers, registers,capacitors, inductors, diodes, wiring, and so on).

The “circuit” may also include one or more processors communicablycoupled to one or more memory or memory devices. In this regard, the oneor more processors may execute instructions stored in the memory or mayexecute instructions otherwise accessible to the one or more processors.In some embodiments, the one or more processors may be embodied invarious ways. The one or more processors may be constructed in a mannersufficient to perform at least the operations described herein. In someembodiments, the one or more processors may be shared by multiplecircuits (e.g., circuit A and circuit B may include or otherwise sharethe same processor which, in some example embodiments, may executeinstructions stored, or otherwise accessed, via different areas ofmemory). Alternatively or additionally, the one or more processors maybe structured to perform or otherwise execute certain operationsindependent of one or more co-processors. In other example embodiments,two or more processors may be coupled via a bus to enable independent,parallel, pipelined, or multi-threaded instruction execution. Eachprocessor may be implemented as one or more general-purpose processors,application specific integrated circuits (ASICs), field programmablegate arrays (FPGAs), digital signal processors (DSPs), or other suitableelectronic data processing components structured to execute instructionsprovided by memory. The one or more processors may take the form of asingle core processor, multi-core processor (e.g., a dual coreprocessor, triple core processor, quad core processor, etc.),microprocessor, etc. In some embodiments, the one or more processors maybe external to the apparatus, for example the one or more processors maybe a remote processor (e.g., a cloud based processor). Alternatively oradditionally, the one or more processors may be internal and/or local tothe apparatus. In this regard, a given circuit or components thereof maybe disposed locally (e.g., as part of a local server, a local computingsystem, etc.) or remotely (e.g., as part of a remote server such as acloud based server). To that end, a “circuit” as described herein mayinclude components that are distributed across one or more locations.The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure can be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

What is claimed is:
 1. A system for controlling air quality of abuilding space served by HVAC equipment, the system comprising: aninterface configured to receive a measured air quality from a sensor; acontrol system configured to: determine a feedforward air qualitycontribution by estimating a disturbance to the air quality of thebuilding space; determine a feedback air quality contribution based onthe measured air quality and an air quality setpoint for the buildingspace; combine the feedforward air quality contribution and the feedbackair quality contribution to determine a target amount of ventilation orfiltration to be provided to the building space by the HVAC equipment;and control the HVAC equipment to provide the target amount ofventilation or filtration.
 2. The system of claim 1, wherein estimatingthe disturbance to the air quality is based on outside traffic orpollution levels.
 3. The system of claim 1, wherein estimating thedisturbance to the air quality is based upon occupancy or movement ofoccupants.
 4. The system of claim 1, wherein the air quality is relatedto particulate concentration of particulates.
 5. The system of claim 1,wherein estimating the disturbance to the air quality is based onmeasurements of movement of occupants.
 6. The system of claim 1,comprising: an occupancy sensor configured to obtain a measurement of anumber of people located in the building space; and a carbon dioxidesensor configured to obtain a measurement of a carbon dioxideconcentration in the building space to provide the measured air quality;wherein estimating the disturbance to the air quality is based on themeasurement of the number of people located in the building space; andwherein the feedback air quality contribution is based on themeasurement of the carbon dioxide concentration in the building space.7. The system of claim 1, wherein the sensor comprises a particulatesensor.
 8. The system of claim 1, wherein the HVAC equipment comprises adamper configured to control air flow from an outside environment. 9.The system of claim 1, wherein the HVAC equipment comprises a filtrationsystem configured to filter air flow.
 10. A system for controlling airquality of a building space, the system comprising: HVAC equipmentconfigured to serve the building space; a control system configured to:determine a feedforward air quality contribution by estimating adisturbance to the air quality of the building space; determine afeedback air quality contribution based on a measured air quality and anair quality setpoint for the building space; combine the feedforward airquality contribution and the feedback air quality contribution todetermine a target amount of ventilation or filtration to be provided tothe building space by the HVAC equipment; and control the HVAC equipmentto provide the target amount of ventilation or filtration.
 11. Thesystem of claim 10, wherein estimating the disturbance to the airquality is based on outside traffic or pollution levels.
 12. The systemof claim 10, wherein the feedforward air quality contribution iscalculated using an occupancy measurement from an occupancy sensor orinfrared camera, the occupancy measurement used in estimating thedisturbance to the air quality of the building space.
 13. The system ofclaim 10, wherein the disturbance to the air quality comprises a carbondioxide estimate that quantifies a carbon dioxide transfer from one ormore people in the building space to indoor air of the building space ora particulate estimate that quantifies particulate transfer to theindoor air of the building space due to the one or more people.
 14. Thesystem of claim 10, further comprising an occupancy sensor configured toobtain a measurement of a number of people located in the building spaceand a thermal imaging camera to measure an activity level of the people;and wherein the control system is configured to estimate the disturbanceto the air quality of the building space based on the measurement fromthe occupancy sensor and the activity level.
 15. The system of claim 10,further comprising: an occupancy sensor configured to obtain ameasurement of a number of people located in the building space; and acarbon dioxide sensor configured to obtain a measurement of a carbondioxide concentration in the building space; wherein the control systemis configured to estimate the disturbance to the air quality of thebuilding space based on the measurement of the number of people locatedin the building space and the measurement of the carbon dioxideconcentration in the building space.
 16. The system of claim 10, whereinthe measured air quality is a carbon dioxide concentration.
 17. A methodcomprising: determining a feedforward contribution by estimating adisturbance to an air quality of a building space; determining afeedback contribution based on a measured air quality of the buildingspace and an air quality setpoint for the building space; combining thefeedforward contribution and the feedback contribution to determine atarget condition to be provided to the building space by HVAC equipment;and providing, by the HVAC equipment, the target condition to thebuilding space.
 18. The method of claim 17, wherein the target conditionis ventilation, filtration, or energy flow.
 19. The method of claim 17,wherein the measured air quality comprises an amount of one or more ofparticulates, pathogens, allergens, carbon monoxide, or carbon dioxidein air of the building space.
 20. The method of claim 17, furthercomprising estimating the disturbance to the air quality based onmeasurements of a number of people located in the building space.